WO2018186407A1

WO2018186407A1 - Parking assistance device

Info

Publication number: WO2018186407A1
Application number: PCT/JP2018/014291
Authority: WO
Inventors: 真石野田; 晋也田川; 範安長谷島
Original assignee: クラリオン株式会社
Priority date: 2017-04-07
Filing date: 2018-04-03
Publication date: 2018-10-11
Also published as: JP6793085B2; CN110494345B; EP3608204B1; CN110494345A; EP3608204A4; EP3608204A1; US20200081446A1; JP2018176911A; US11249486B2

Abstract

The purpose of the present invention is to achieve a parking assistance device that assists in reparking, in a correct position or orientation, a vehicle that has been parked such that the position or orientation is displaced. This parking assistance device (1) has: a parking route setting unit that assists in parking a host vehicle (V) in a parking space (20) provided to the side of a passage (21), the parking route setting unit setting a parking route from an initial position (P0) of the host vehicle V on the passage (21) to the target parking position (P1) of the parking space (20); a position displacement determination unit (15) for determining whether there is position displacement between the host vehicle (V) and the parking space (20) when parking is performed on the basis of the parking route; and a position displacement correction route calculation unit (16) that calculates a position displacement correction route when position displacement is determined to exist.

Description

Parking assistance device

The present invention relates to a vehicle parking assistance device.

Patent Document 1 discloses a technology of a parking assistance device that calculates a guidance route including a turnback for parking a vehicle and assists the vehicle to reach a target position along the guidance route.

JP 2010-208392 A

However, when the vehicle is actually parked along the guidance route, the position and orientation of the host vehicle may be shifted due to various factors such as sensor accuracy and error, and delay in steering operation during parking operation.

The present invention has been made in view of the above points, and the object of the present invention is to provide parking for assisting in re-parking the own vehicle parked in the wrong position and orientation in the correct position and orientation. It is to provide a support device.

The parking assist device of the present invention that solves the above problem is a parking assist device that supports parking of the host vehicle in a parking space provided on the side of the passage, from the initial position of the host vehicle on the passage. When there is a parking route setting unit that sets a parking route to the target parking position of the parking space and parking is performed based on the parking route, is there a displacement between the host vehicle and the parking space? A misalignment determining unit that determines whether or not, and when it is determined that there is the misalignment, the host vehicle is moved from the parking space to the passage, and from the passage toward the target parking position of the parking space. And a misalignment path calculation unit that calculates a misalignment path that is moved to correct the misalignment.

According to the present invention, it is possible to provide assistance for re-parking a vehicle parked at a wrong position or orientation in the correct position or orientation. Further features related to the present invention will become apparent from the description of the present specification and the accompanying drawings. Further, problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The functional block diagram of the parking assistance apparatus concerning embodiment of this invention. The figure which shows the state before parking of the back-facing parallel parking, and after parking. The figure which shows the state before parking of forward parallel parking, and after parking. The figure which shows an example of the method of calculating the delivery path | route of back facing parallel parking. The figure which shows an example of the method of calculating the outgoing route of forward parallel parking. The figure which shows the connection candidate position in the leaving route in the case of rearward parallel parking. The figure which shows the connection candidate position in the leaving route in the case of forward parallel parking. The flowchart explaining the method of calculating the connection candidate position on the delivery route. Process flow for reachability determination. The figure explaining an example of the reachable determination by one side steering. The figure explaining an example of the reachable determination by one side steering. The figure explaining an example of the reachable determination by one side steering. The figure explaining an example of the reachable determination by S character steering. The figure explaining an example of the reachable determination by S character steering. The figure explaining the production | generation method of the forward direction path | route by one side steering. The figure explaining the production | generation method of the forward direction path | route by S-shaped steering. The figure explaining the production | generation method of the forward direction path | route by S-shaped steering. The figure explaining the production | generation method of the forward direction path | route by S-shaped steering. The figure which shows the state before repositioning and after repositioning. The figure explaining the operation | movement of the position shift performed by the 1st position shift path. The image figure of the shared circle calculated gradually according to the movement of the own vehicle. The figure explaining the calculation method of a warehousing route. The figure explaining parking NG conditions. The figure explaining the operation | movement of the position shift performed by the 2nd position shift path. 9 is a flowchart for explaining a method for calculating a second repositioning path. 10 is a flowchart for explaining a method for selecting a shift path.

Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a functional block diagram of a parking assistance apparatus according to an embodiment of the present invention, FIG. 2A is a diagram showing a state before and after parking in backward parallel parking, and FIG. 2B is a parking before and after parking in forward parallel parking. It is a figure which shows a back state.

The parking assist device 1 is a device that assists the parking of the host vehicle V in the parking space 20, and in particular, the host vehicle in the parking space 20 in which the parking orientation 26 is provided at right angles to the passage orientation 25 of the passage 21. It is a device that supports so-called parallel parking, in which V is parked. The parking space 20 refers to a partitioned area in which a parking direction is set in advance in order to park the vehicle in a predetermined direction. As other names, a parking frame, a parking section, a parking area, a parking place, or Also called a parking lot.

In the example shown in FIG. 2A, the parking space 20 is provided on the left side with respect to the passage direction 25 that is the direction of the passage 21, and the parking direction 26 is set so as to park the host vehicle V backward. . In the example shown in FIG. 2B, the parking space 20 is provided on the right side with respect to the passage direction 25 of the passage 21, and the parking direction 26 is set so as to park the host vehicle V forward.

As shown in FIGS. 2A and 2B, the parking assist device 1 performs the target parking of the parking space 20 from the state where the vehicle orientation Vf of the host vehicle V is arranged in the same direction as the passage orientation 25 at the initial position P0 of the passage 21. A route for guiding the host vehicle V is calculated so that the vehicle orientation Vf is arranged in the same direction as the parking orientation 26 at the position P1, and set as a parking route.

Then, when the own vehicle V is parked according to the set parking route, it is determined whether or not there is a positional deviation between the own vehicle V and the parking space. When it is determined that there is a positional deviation, a path for correcting the positional deviation is calculated and set as a positional deviation correcting path.

Obstacles

23, 24 such as other vehicles and other parking spaces are arranged in front of the passage and behind the parking space 20 of the passage 21, and on the side of the passage 21 opposite to the parking space 20 side. An obstacle 22 such as a wall, a curb, or another vehicle extending along the passage direction 25 of the passage 21 is disposed.

In the present embodiment, whether or not the own vehicle V is disposed at each of the initial position P0, the target parking position P1, the intermediate target position P2, which will be described later, the first contact point 31, the second contact point 32, and the like. The determination is based on a reference point Vo which is an intermediate position between the left and right rear wheels of the vehicle V. Moreover, turning shall be performed along a clothoid curve, for example.

The parking assist device 1 calculates a parking route for guiding the host vehicle V to the parking space 20. Therefore, it is possible to park in the parking space 20 beside the passage by moving the host vehicle V along the calculated parking route. Further, when the vehicle is parked in accordance with the parking route and the vehicle is parked at a different position or orientation, a repositioning route for correcting the positional displacement is calculated. Accordingly, the displacement can be corrected by moving the host vehicle V along the calculated displacement displacement route, and the vehicle can be parked at the correct position in the parking space 20 in the correct direction.

For example, the movement of the host vehicle V may display the parking route on the in-vehicle monitor, and the driver may operate the host vehicle V while viewing the display. It is good also as a system which parks the own vehicle V in the target parking position P1 automatically or semi-automatically. Similarly, the driver may operate the own vehicle V while displaying the repositioning route on the in-vehicle monitor, and the driver may operate the host vehicle V while viewing the display. It is good also as a system which parks vehicle V in target parking position P1 automatically or semi-automatically. In the semi-automatic mode, for example, the steering wheel operation is performed by automatic control, and the accelerator operation and the brake operation are performed by the driver. In the automatic operation, the steering wheel operation, the accelerator operation, and the brake operation are all performed by automatic control.

The parking assistance device 1 is mounted on the host vehicle V and is realized by the cooperation of hardware such as a microcomputer and a software program. As shown in FIG. 1, the parking assistance device 1 includes an exit route calculation unit 11, a connection candidate position setting unit 12, a reachable route calculation unit 13, a parking route setting unit 14, a position deviation determination unit 15, A repositioning path calculation unit 16 is provided.

The exit route calculation unit 11 calculates at least one exit route that causes the host vehicle V to exit from the parking space 20 based on the information on the target parking space and the constraint condition of the own vehicle behavior. The connection candidate position setting unit 12 sets a plurality of connection candidate positions on each delivery route. The reachable route calculation unit 13 calculates a reachable route that can be reached from the initial position P0 that is the current position of the host vehicle V for each connection candidate position. The parking route setting unit 14 sets the parking route of the host vehicle V by connecting the delivery route and the reachable route, and when there are a plurality of parking routes, selects an optimal parking route based on a predetermined condition from among them. To do.

As shown in FIG. 1, target parking space information 191, target parking position information 192, own vehicle information 193, and own vehicle position information 194 are input to the parking assistance device 1. The target parking space information 191 includes information that serves as a constraint condition for the parking space, such as the position and distance of obstacles around the parking space 20.

The target parking position information 192 includes information on the shape of the parking space 20 and the relative position with respect to the host vehicle V, and the host vehicle information 193 includes restrictions on the behavior of the host vehicle such as the turning radius of the host vehicle V. Information that is a condition is included. And as the own vehicle position information 194, the dead reckoning calculated by the vehicle model from the steering angle and speed of the own vehicle V and the rotation amount of the wheel is used, and the position information acquired by a sensor such as GPS, the road You may utilize the own vehicle position information obtained by inter-vehicle and inter-vehicle communication.

The operation input unit 195 inputs, for example, information on the parking space selected by the user to the parking support device 1. The route display unit 17 is a vehicle-mounted monitor that can be seen by the driver in the vehicle, and can display the return position of the target parking route superimposed on the image from the camera. Further, not only the switching position but also the entire parking route may be displayed. The driver can check the switching position and parking path displayed on the in-vehicle monitor.

<Outgoing route calculation unit>
The exit route calculation unit 11 calculates the exit route based on the target parking space information 191, the target parking position information 192, and the host vehicle information 193. The target parking space information 191 can be acquired from, for example, a detection signal of an ultrasonic sensor mounted on the host vehicle V or an image from an in-vehicle camera. Moreover, you may acquire the infrastructure information output from parking lot equipment.

The delivery route is a virtual travel route that estimates a route to be delivered from the state in which the host vehicle V is accurately arranged in the parking space 20. The delivery route is calculated without any restriction on the initial position P0 of the host vehicle V and is completely independent. The exit route calculation unit 11 does not use the vehicle position information 194 when calculating the exit route. The delivery route is not limited to one, and at least one is calculated.

The delivery route is calculated based on the information on the target parking space and the constraints on the vehicle behavior. In the backward parallel parking, a route is generated assuming that the vehicle is discharged in the same direction as the direction of the host vehicle V at the initial position P0 when the target parking position P1 is the origin. In the forward parallel parking, the target parking position P1 A route is generated on the assumption that the vehicle exits in the direction opposite to the direction of the host vehicle V at the initial position P0.

For example, in the case of rearward parallel parking in which the posture state of the host vehicle V at the target parking position P1 is backward, the host vehicle V is moved straight from the target parking position P1 and is an intermediate position between the left and right rear wheels of the host vehicle V. The vehicle is steered so that the reference point Vo (hereinafter referred to as the position Vo of the host vehicle) leaves the parking space 20 and exits in the same direction as the direction of the host vehicle V at the initial position P0. A forward path through which the host vehicle V reaches a reachable limit position for an obstacle ahead, and the host vehicle V reaches a reachable limit position for an obstacle behind by moving the front wheel straight with respect to the host vehicle V and moving backward. Calculate the reverse path. Then, until the predetermined end condition is satisfied, the output route is calculated by alternately calculating the forward route and the backward route. The reachable limit position refers to a position away from the obstacle with a predetermined gap. The predetermined gap has a margin in consideration of a predetermined error so as not to come into contact with an obstacle, and is preferably as small as possible, for example, set to about 1 cm to 5 cm. In the present embodiment, a virtual frame having a predetermined gap is set on the outer periphery of the host vehicle V, and the position where the virtual frame contacts the obstacle is determined as the reachable limit position.

On the other hand, in the case of forward parallel parking where the posture state of the host vehicle V at the target parking position P1 is forward, the host vehicle V is moved straight back from the target parking position P1, and the position Vo of the host vehicle V is predetermined from the parking space 20 Steering the vehicle so as to exit in the direction opposite to the direction of the host vehicle V at the initial position P0 and the route leading to the distance away, and the host vehicle V becomes the reachable limit position for the obstacle behind by reversing Calculates the reverse path to reach and the forward path from which the own vehicle V reaches the reachable limit position with respect to the obstacle ahead by turning the vehicle so as to exit in the same direction as the direction of the own vehicle V at the initial position P0. To do. Then, until the predetermined end condition is satisfied, the output route is calculated by alternately calculating the forward route and the backward route.

For example, the exit route calculation unit 11 has a first condition in which the direction of the host vehicle V on the exit route is 90 degrees with respect to the parking direction 26 as a predetermined end condition, and the host vehicle V has a passage direction 25 from the target parking position P1. The delivery route is calculated until at least one of the second condition for reaching a point separated by a predetermined distance Hmax along the second route and the third condition for reaching the predetermined number of times of return on the delivery route is satisfied.

3 and 4 are diagrams illustrating an example of a method for calculating the exit route of the host vehicle in accordance with preset conditions. FIG. 3 illustrates a case of backward parallel parking. FIG. 4 illustrates forward parallel parking. It is a figure which shows a case.

For example, in the example of the backward parallel parking shown in FIG. 3, the exit route is such that the host vehicle V is moved straight from the state (a) parked in the parking space 20 and the position Vo of the host vehicle V comes out of the parking space 20 ( b) From there, the vehicle V is steered to the left and moved forward to reach the reachable limit position for the obstacle 22 ahead (c), and the front wheel is straightened along the vehicle direction of the vehicle V at this position. As a result, the host vehicle V reaches the reachable limit position with respect to the rear obstacle 24 (d). Then, the vehicle V of the host vehicle V passes through a forward path (e) steered to the left, a reverse path (f) to recede straight, a forward path (g) steered to the left, and a receding path (h) to recede straight. A route to the state (i) in which the direction is 90 degrees with respect to the parking direction of the parking space 20 is calculated.

Similarly, in the example of forward parallel parking shown in FIG. 4, for example, the host vehicle V is retreated straight from the parking space 20 at the target parking position P <b> 1 (a), and the position Vo of the host vehicle V is the parking space 20. (B) from which the vehicle V is steered to the right and then moved backward to reach the reachable limit position for the obstacle 22 behind (c) and to the left at this position. The vehicle V is steered and moved forward to reach the reachable limit position for the obstacle 22 ahead (d). Then, the host vehicle passes through a backward path (e) that steers to the right, a forward path (f) that steers to the left, a backward path (g) that steers to the right, and an forward path (h) that steers to the left. A route to a state (i) in which the vehicle orientation of V is 90 degrees with respect to the parking orientation of the parking space 20 is calculated.

Note that the method of calculating the delivery route is not limited to the method described above, and may be calculated according to other conditions. In addition, a condition suitable for the target parking space may be selected from a plurality of preset conditions for calculation.

<Connection candidate position setting section>
The connection candidate position setting unit 12 sets a plurality of connection candidate positions on the delivery route. The connection candidate position is a candidate position for determining whether or not it is possible to connect to the initial position P0 via a reachable route. For example, the connection candidate position setting unit 12 sets a plurality of connection candidate lines PL at predetermined intervals in the passage direction of the passage 21 on the passage 21 as one method of setting the connection candidate positions, and the delivery route The position where the position Vo of the host vehicle V intersects with these connection candidate lines PL is set as the connection candidate position D, and is stored by being linked to the vehicle direction Vf of the host vehicle V at this position.

FIG. 5 is a diagram showing connection candidate positions on the reverse route in the case of backward parallel parking. The connection candidate line PLn (n is a number) is set so as to extend across the width direction of the passage 21 in front of the passage direction of the passage 21 from the target parking position B, and to the left from the parking space 20. In this embodiment, a predetermined interval is set on the passage 21 and the horizontal direction is set to 1.5 m to 0.5 m with reference to the target parking position B. Then, the position where the position Vo of the host vehicle V passes the connection candidate line PL on the delivery route is set as the connection candidate position D, and the vehicle direction Vf of the host vehicle V at this position is stored. In the figure, symbol A represents an initial position, symbol B represents a target parking position, symbol C represents a reachable limit position, and symbol E represents a park-out position.

FIG. 6 is a diagram illustrating connection candidate positions on the leaving route in the case of forward parallel parking.
The connection candidate line PL is set so as to extend in the width direction of the passage 21 in front of the passage direction of the passage 21 from the target parking position B. In the present embodiment, along the passage direction of the passage 21. It is set in 0.5m increments. Then, the position where the position Vo of the host vehicle V passes the connection candidate line PL on the delivery route is set as the connection candidate position D, and the vehicle direction Vf of the host vehicle V at this position is stored.

FIG. 7 is a flowchart for explaining a method of calculating connection candidate positions on the delivery route. First, in accordance with a predetermined rule, a calculation for virtually moving the host vehicle V in the direction of leaving the target parking position P1 is performed (S101), and it is determined whether or not the virtual frame of the host vehicle V collides with an obstacle. (S102). When it is determined that a collision occurs, it is determined that the position is the reachable limit position C, and the shift of the host vehicle V is switched from the D range to the R range or from the R range to the D range. The traveling direction is switched back from forward to backward, or from backward to forward (S107).

Then, it is determined whether or not the host vehicle V has reached a predetermined connection candidate position D (S103). When the position Vo of the host vehicle V passes the connection candidate line PL, this position is determined as the connection candidate position D. And the vehicle orientation Vf of the host vehicle V at this position is stored (S108). And it is judged whether the angle of the own vehicle V which is 1st condition became 90 [deg] with respect to the parking azimuth | direction 26 (S104), and when it is 90 [deg], 1st condition If this condition is satisfied, this routine is terminated.

On the other hand, if the vehicle direction Vf of the host vehicle V is not 90 [deg] with respect to the parking direction 26, it is determined whether or not the vehicle has moved away by a predetermined distance Hmax (S105). In this embodiment, the predetermined distance Hmax is set to 7 meters. When the host vehicle V has moved by a predetermined distance Hmax or more, this routine is terminated assuming that the second condition is satisfied.

As another method for setting the connection candidate position, for example, when the host vehicle V is moved in the exit direction along the exit route, the connection candidate position setting unit 12 sets the orientation of the host vehicle V to a predetermined relative designated angle. Such a position may be set as a connection candidate position every time it changes by an amount (for example, every 5 [deg]).

<Reachable route calculation unit>
The reachable route calculation unit 13 calculates a reachable route that can reach at least one of the plurality of connection candidate positions D from the initial position P0 of the host vehicle V. The reachable route is a route that can reach the connection candidate position D from the initial position P0 of the host vehicle V only in one of forward and backward without switching between forward and backward. Whether or not the vehicle can be reached is determined based on the position Vo and the vehicle direction Vf of the host vehicle V, the position Vo of the host vehicle V matches the connection candidate position D, and the vehicle direction Vf of the host vehicle V is determined as the connection candidate position. When the vehicle direction Vf linked to D is stored, the vehicle direction is determined to be reachable. The reachable route is calculated based on the own vehicle position information and the specification information of the own vehicle V. The reachable route is calculated in order from the connection candidate position D having the smaller number of turnovers and closer to the initial position P0 of the own vehicle V.

If the host vehicle V can be moved from the initial position P0 and placed at the connection candidate position D in the predetermined vehicle direction Vf, the host vehicle V is moved into the parking space 20 by following the exit route in the reverse direction. Can be moved. Therefore, in the reachable path | route calculating part 13, the connection candidate position D which can arrange | position the own vehicle V by the predetermined vehicle azimuth | direction Vf from the initial position P0 among the several connection candidate positions D on the delivery route is a park-out position. E is set, and the reachable route from the initial position P0 to the park-out position E is calculated.

FIG. 8 is a process flow of reachability determination.
This processing flow is looped by the connection candidate positions (S111), and it is first determined whether or not the one-side turning can be reached from the initial position P0 to the connection candidate position D (S112). One-side steering is an operation of turning the steering of the host vehicle V only to one of the left and right sides of the host vehicle V. Then, when it is determined that the connection candidate position D cannot be reached by the one-side turning, it is determined whether or not the connection candidate position D can be reached by the S-shaped turning (S116). The S-shaped steering is an operation of turning the steering of the host vehicle V to the left and right sides of the host vehicle V.

When it is determined that the connection candidate position D can be reached by one-side turning or S-shaped turning, the connection candidate position is selected as the park-out position E, and the vehicle V is parked from the initial position P0. A reachable route to the out position E is generated (S113).

Then, it is determined whether or not the host vehicle V contacts an obstacle on the reachable route (S114). If it is determined that the vehicle V does not contact, the reachable route generated by turning on the connection OK flag is stored. The data is stored in the means, and the loop is terminated (S117). On the other hand, when it is determined that the connection candidate position D cannot be reached by one-side turning and S-shaped turning (NO in S112 and S116), or when it is determined that contact is made in contact determination (YES in S114) The determination on the connection candidate position D is terminated, and the determination on the remaining connection candidate positions D is performed. If it is determined that all the connection candidate positions D cannot be reached, the connection OK flag is turned OFF (S115), and the processing flow is terminated.

FIGS. 9A to 9C are diagrams illustrating an example of reachability determination by one-side turning, and FIGS. 9D and 9E are diagrams illustrating an example of reachability determination by S-shaped steering.

In the reachability determination by one-side turning in S112, it is determined that the vehicle can be reached if the following conditions (a1) to (a3) are all satisfied (the angle difference and the position are also limited).
(A1) The axis (vehicle orientation) A2 at the current position A (initial position P0) of the host vehicle V and the axis (vehicle orientation) E2 at the connection candidate position E intersect.
(A2) The turning circle A1 at the current position A does not intersect with the axis E2 of the connection candidate position E.
(A3) The turning circle E1 at the connection candidate position E and the axis A2 of the current position A do not intersect.
The turning circle is a turning-side arc (minimum rotation locus) in consideration of clothoid.

In the example shown in FIG. 9A, since the axes A2 and E2 intersect at the intersection position F1, the above condition (a1) is satisfied. Therefore, it is determined that it can be reached by one-side turning. On the other hand, in FIG. 9B, since the turning circle E1 and the axis A2 intersect, the condition (a3) is not satisfied. In the example shown in FIG. 9C, the turning circle A1 and the axis E2 intersect, so the condition (a2) is not satisfied. Therefore, in the example shown in FIG. 9B and FIG. 9C, it is determined that it cannot be reached by one-side turning, and the process proceeds to determination of whether or not use of S-shaped turning is possible.

In the reachability determination by S-shaped turning in S116, it is determined that the vehicle can be reached when the following condition (a4) is satisfied (the angle difference and the position are also limited).
(A4) The turning circle A1 at the current position A does not intersect with the turning circle E1 at the connection candidate position E.

In the example shown in FIG. 9D, the turning circle A1 and the turning circle E1 do not intersect with each other, so the condition (a4) is satisfied. Therefore, it is determined that it is reachable by S-shaped steering. On the other hand, in the example shown in FIG. 9E, since the turning circle A1 and the turning circle E1 intersect, the condition (a4) is not satisfied, and it is determined that the arrival by the S-shaped steering is impossible.

FIG. 10 is a diagram illustrating a method for generating a reachable route by one-side turning.
In order to generate a route by one-side turning from the current position A to the connection candidate position E, first, as shown in FIG. 10A, between the intersection point K of the axis A2 and the axis E2 and the current position A The distance Ls and the distance Le between the intersection K and the connection candidate position E are calculated, and the shorter distance is selected (in the example shown in the figure, the distance Le is selected). Then, as shown in FIG. 12B, a circle having two axes A2 and E2 as common tangent lines and passing through a position separated by a short distance from the intersection K is drawn, and the following equation (1) is calculated from geometric calculation. ) To calculate the radius R.

As described above, a reachable route combining a straight line and an arc can be generated.
FIG. 11 is a diagram for explaining a method of generating a reachable route by S-shaped steering, and a generation method when the axis E2 is behind the connection candidate position E and does not intersect with the X axis that is the axis A2 of the current position A. FIG.

Here, the radius R of the common circle having the same radius for drawing the S-shape is calculated. If a circle contact point is obtained, an S-shaped reachable path can be generated by combining the arc of the turning circle A1 and the arc of the turning circle E1.

The radius of the common circle can be obtained from the distance between the center coordinates because the center coordinates of each circle can be obtained.

However, if θ = 0

From the state shown in FIG. 11A to the position of the intersection F7 shown in FIG. 11B can be calculated by the above-described calculation formula.
From the formula shown in FIG. 11C, the S-shaped turning angles φ ₁ and φ ₂ and the arc lengths b ₁ and b ₂ are obtained by the following calculation formulas.

FIG. 12 is a diagram for explaining a method of generating a reachable route by S-shaped steering, and a generation method when the axis line E2 intersects the X axis that is the axis line A2 of the current position A behind the connection candidate position E. It is a figure explaining.

Here, the radius R of the common turning circles E1 and A1 having the same radius for drawing the S-shape is calculated. If a circle contact point is obtained, an S-shaped reachable path can be generated by combining the arc of the turning circle A1 and the arc of the turning circle E1.
The radius of the common circle is obtained from the distance between the center coordinates because the center coordinates of each circle are obtained.

From the formula shown in FIG. 11C, the S-shaped turning angles φ ₁ and φ ₂ and the arc lengths b ₁ and b ₂ are obtained by the following calculation formulas.

FIG. 13 is a diagram for explaining a method for generating a reachable route by S-shaped steering, and a method for generating a case where the axis E2 intersects the X axis that is the axis A2 of the current position A behind the connection candidate position E. It is a figure explaining.

Here, the radius R of the common circles E1 and A1 having the same radius for drawing the S-shape is calculated. If a circle contact point is obtained, an S-shaped reachable path can be generated by combining the arc of the turning circle A1 and the arc of the turning circle E1.

<Parking route setting part>
The parking route setting unit 14 sets a parking route using information on the exit route from the target parking position P1 to the park-out position E and information on the reachable route from the initial position P0 of the host vehicle V to the park-out position E. To do. The parking route setting unit 14 connects the reachable route generated by turning on the connection OK flag in step S117 of FIG. 10 and the delivery route including the park-out position E to which the reachable route is connected. Form a pathway.

When a plurality of parking routes can be set, the parking route is selected according to various evaluation values such as parking time, presence / absence of a following vehicle, parking accuracy, passage width, or driver's preference. For example, in terms of parking accuracy, the accuracy of the parking position is higher when the vehicle V is approached straight after the direction of the host vehicle V is aligned with the parking direction 26 than when entering the parking space 20 while turning. Therefore, when priority is given to the accuracy of the parking position, a parking route that enters straight after the direction of the host vehicle V is aligned with the parking direction 26 is selected.

Also, for example, when parking in the parking space 20 from the park-out position E, the time required for parking can be shortened if the number of times of turning back and forth and the steering amount are as small as possible. Therefore, in order to shorten the time required for parking, a parking route is selected in which the number of front and rear turnovers and the steering amount are minimized.

Also, for example, when parking, the intention to park in the parking space 20 can be clearly shown to the following vehicle if the vehicle does not move away from the parking space 20 rather than moving to a position far away from the parking space 20. Therefore, when there is a succeeding vehicle on the passage 21, a parking route that does not leave the parking space 20 is selected.

As described above, the parking assist device 1 calculates the delivery route from the target parking position P1, and among the plurality of connection candidate positions D set on the delivery route, the parking assistance device 1 can be reached from the initial position P0 of the own vehicle and is the most The closest connection candidate position D is selected as the park-out position E, and the exit route from the target parking position B to the park-out position E and the reachable route from the initial position P0 of the host vehicle V to the park-out position E are used. Set the parking route. Therefore, the parking path including the turning back for guiding the host vehicle V to the target parking position P1 is calculated without depending on the start position or the vehicle attitude at which parking assistance is started, and the vehicle attitude that is correct at the position intended by the driver is calculated. You can park your vehicle at

Next, repositioning of the vehicle V will be described.
According to the parking assist device 1 described above, the host vehicle V is guided to the parking space 20, the position Vo of the host vehicle V is arranged at the target parking position P1 in the parking space 20, and the vehicle direction Vf of the host vehicle V is set. It is possible to calculate a parking route that can be matched with the parking direction 26. However, when the host vehicle V is actually moved along the parking path, a positional shift may occur due to various factors such as sensor accuracy and error, and delay in steering operation during the parking operation. The parking assist device 1 according to the present embodiment calculates a route for correcting the positional deviation and assists the positional deviation correction when the positional deviation occurs as a result of parking the host vehicle V along the parking path.

<Position displacement determination unit>
FIG. 14 is a diagram illustrating a state before and after repositioning. In the following description, the case of backward parallel parking will be described as an example. However, the present embodiment can be similarly applied to the case of forward parallel parking.

The displacement determination unit 15 determines whether or not there is a displacement between the host vehicle V and the parking space 20. The misalignment determination unit 15 determines the vehicle orientation Vf of the host vehicle V and the parking space when the separation distance δ between the actual position V of the host vehicle V and the target parking position P1 of the parking space 20 is greater than or equal to a predetermined value. It is determined that there is a positional deviation when the angle θ between the 20 parking directions 26 is at least one of the cases where the angle θ is equal to or greater than a predetermined value. Information on the position Vo of the host vehicle V with respect to the target parking position P1 and the vehicle direction Vf with respect to the parking direction 26 can be acquired from the host vehicle position information 194.

14 (1), the vehicle direction Vf of the host vehicle V is tilted by a predetermined value or more from the parking direction 26 of the parking space 20, and the position Vo of the host vehicle V is the parking space 20. It is determined that there is a positional deviation because it is separated from the target parking position P1 by a predetermined value or more. 14 (2), the vehicle direction Vf of the host vehicle V is parallel to the parking direction 26 of the parking space 20, but the reference point Vo of the host vehicle V is the target parking position of the parking space 20. It is determined that there is a positional deviation because it is separated from P1 by a predetermined value or more. Although not shown in particular, it is determined that there is a displacement even when the host vehicle V is stopped near the parking space 20.

In the parking assistance device 1, the parking operation of the host vehicle V is started according to the parking route set by the parking route setting unit 14, and it is determined that the parking is completed when the operation ends. The parking operation of the host vehicle V ends when the host vehicle V reaches the end point of the parking path. However, as a result of the guidance, the position Vo of the host vehicle V does not coincide with the target parking position P1 or the host vehicle V When the vehicle orientation Vf of the vehicle does not coincide with the parking orientation 26 of the parking space 20, or when an obstacle is detected during the parking operation and the vehicle orientation Vf is stopped, the process is also terminated. The position deviation determination unit 15 performs position deviation determination when the parking operation of the host vehicle V using the parking route is completed, or when an instruction by the driver's operation is given after the parking operation is completed.

<Position recalculation path calculator>
When the positional deviation determination unit 15 determines that there is a positional deviation, the positional deviation correction path calculation unit 16 calculates a positional deviation correction path that corrects the positional deviation. The repositioning route includes a delivery route in which the host vehicle V is temporarily delivered from the parking space 20 and moved to the passage 21 or moved to a position on the passage 21 away from the vicinity of the parking space 20 toward the delivery side, and a passage 21 and a warehousing route for moving toward the target parking position P1 of the parking space 20.

The host vehicle V corrects the position shift by moving along the position shift path, that is, the actual position Vo of the host vehicle V and the parking space 20 as in the example after the shift shown in FIG. The separation distance δ from the target parking position P1 can be less than a predetermined value, and the angle θ between the vehicle orientation Vf of the host vehicle V and the parking orientation 26 of the parking space 20 can be less than a predetermined value.

The misalignment path calculation unit 16 includes a first misalignment path calculation unit and a second misalignment path calculation unit. The first misalignment path calculation unit calculates a first misalignment path (see FIG. 15) that corrects misalignment with only one-side turning, and the second misalignment path calculation unit includes an S-shape. A second misalignment path (see FIG. 19) for correcting misalignment by turning is calculated.

<First misalignment path calculation unit>
15 is a diagram for explaining the operation of repositioning performed using the first repositioning route, FIG. 16 is an image diagram of a shared circle that is gradually calculated according to the movement of the host vehicle, and FIG. It is a figure explaining the calculation method of a warehousing route.

The first repositioning route calculation unit includes an exit route that moves straight from the parking position of the host vehicle V to a position on the passage 21, and a warehousing that moves while turning to one side from the position on the passage 21 toward the parking space 20. The route is calculated, and the first repositioning route is calculated by connecting the outgoing route and the incoming route.

The first repositioning path calculation unit calculates a shared circle 30 that has both the vehicle direction Vf of the host vehicle V and the parking direction 26 of the parking space 20 as a tangent line. Then, along the vehicle direction Vf of the host vehicle V, a straight line is connected from the parking position of the host vehicle V to the first contact point 31 where the vehicle direction Vf of the host vehicle V which is a position on the passage 21 and the shared circle 30 contact. The route is calculated as the outgoing route. Then, a second path along the parking direction 26 of the parking space 20 and a path that connects the first contact point 31 along the shared circle 30 to the second contact point 32 where the parking direction 26 of the parking space 20 contacts the second contact point 32 is in contact. The route connected from the contact point 32 to the target parking position P1 in a straight line is calculated as the warehousing route.

The exit route moves the host vehicle V in a direction away from the parking space 20 along the vehicle direction Vf of the host vehicle V (FIG. 15 (1)), and the position Vo of the host vehicle V is parked in the parking space 20. There is a path that moves beyond the azimuth 26 (FIG. 15 (2)) to the first contact 31 of the common circle 30. The shared circle 30 is a circle that is in contact with both the vehicle direction Vf of the host vehicle V and the parking direction 26 of the parking space 20, and is in contact with the vehicle direction Vf at the first contact 31, and the parking direction 26 is at the second contact 32. Touch.

The warehousing path moves the host vehicle V in a direction approaching the parking space 20 while turning along the shared circle 30 from the first contact point 31 to the second contact point 32 (FIG. 15 (4)), and parks from the second contact point 32. The vehicle is moved straight in the direction of approaching the parking space 20 along the direction 26, the position Vo of the host vehicle V is arranged at the target parking position P1, and the vehicle direction Vf of the host vehicle V is set to the parking direction of the parking space 20. 26 (FIG. 15 (5)).

The shared circle 30 virtually moves the host vehicle V in a direction away from the parking space 20 along the vehicle direction Vf of the host vehicle V, and the position Vo of the host vehicle V is the parking direction 26 of the parking space 20. Is sequentially calculated according to the movement of the host vehicle V from a position exceeding the threshold. As shown in FIGS. 16 (1) to 16 (3), the shared circle 30 gradually increases in diameter as the host vehicle V moves on the vehicle direction Vf.

FIG. 17 is a diagram illustrating a method for calculating a shared circle.
The first repositioning path calculation unit calculates a shared circle 30 that satisfies both of the following two conditions (A) and (B).

The coordinates of the first contact point 31 are V (Xv, Yv, θv), the coordinates of the target parking position P1 are P (Xp, Yp, θp), and the vehicle orientation Vf of the host vehicle V and the parking orientation 26 of the parking space 20 are sandwiched Let the angle be θvp. Rmin is the minimum turning radius of the host vehicle V.

FIG. 18 is a diagram for explaining parking NG conditions.
When the shared circle 30 corresponds to at least one of the following three parking NG conditions, the host vehicle V cannot be parked in the parking space 20 without misalignment on the route using the shared circle 30.

(1) When the shared circle 30 cannot have the second contact 32 in front of the parking position of the host vehicle V, that is, when the second contact 32 is not closer to the exit side than the host vehicle V.
(2) A case where the host vehicle V collides with the obstacle 23 due to an inner ring difference when the host vehicle is moved along the shared circle 30 in the direction in which the host vehicle is moved.
(3) When the radius of the shared circle 30 is smaller than the minimum turning radius of the host vehicle V

The first repositioning route calculation unit sets the delivery route and the entry route using the shared circle 30 that does not correspond to any of the above three parking NG conditions. Specifically, a straight line portion from the parking position of the host vehicle V to the first contact 31 is set as a delivery route, an arc portion between the first contact 31 and the second contact 32 of the shared circle 30, A route obtained by connecting the straight portions 33 from the contact point 32 to the target parking position P1 is set as the warehousing route.

The first repositioning path proceeds straight along the vehicle direction Vf from the parking position of the host vehicle V to the first contact 31. Then, the vehicle proceeds while turning leftward from the first contact 31 toward the second contact 32 at the radius R of the common circle 30, and proceeds straight along the parking direction 26 from the second contact 32 toward the target parking position P1. Therefore, by guiding the host vehicle V along the first repositioning route, the host vehicle V can be arranged in the parking space 20 without any position shift.

<Second misalignment path calculation unit>
FIG. 19 is a diagram for explaining the operation of repositioning performed by the second repositioning path, and FIG. 20 is a flowchart for explaining a method for calculating the second repositioning path.

As shown in FIG. 19 (3), the second realignment route calculation unit includes an exit route 40 that moves while turning left and right from the parking position of the host vehicle V to a position on the passage 21, and FIG. 19 (4). ), The second position is calculated by calculating the warehousing route 41 moving straight from the position on the passage 21 moved by the warehousing route 40 toward the parking space 20, and connecting the warehousing route 40 and the warehousing route 41. Calculate the shift path.

The second misalignment path calculation unit calculates the intermediate target position P2 (S121), and calculates an S-shaped path connecting the parking position of the host vehicle V and the intermediate target position P2 (S122). . Then, it is determined whether or not the host vehicle V can move along the S-shaped route (S123), and when it is determined that the vehicle can move, the reverse amount in the warehousing direction from the intermediate target position P2 is calculated. Then (S124), a route for causing the host vehicle V to recede straightly from the intermediate target position P2 by the receding amount is calculated (S125).

In step S121, the intermediate target position P2 is set at a position away from the target parking position P1 along the parking direction 26 of the parking space 20. The intermediate target position P2 is set based on the passage width W1 of the passage 21, and when the passage width W1 is wide, the set position is limited within a predetermined distance range from the parking space 20. For example, as shown in FIG. 19B, the intermediate target position P2 is set at a position away from the obstacle 22 in front of the parking space 20 by a predetermined distance W2. The predetermined distance W2 is a length obtained by removing the rear overhang from the vehicle length of the host vehicle V, and when the host vehicle V is actually arranged, as shown in FIG. Is set so that a gap can be formed in consideration of an error margin.

In step S122, there is a single contact with the same radius between the parking position of the host vehicle V and the intermediate target position P2, one of which passes the parking position of the host vehicle V, and the other is the intermediate target position. A pair of common circles passing through P2 is calculated. Then, an arc connecting the parking position to a single contact point along one common circle and an arc connecting the single contact point to the intermediate target position P2 along the other common circle are combined to form an S-shape. Generate a route for. For the calculation of the S-shaped route, a method (S116 in FIG. 8) for generating the S-shaped route used when setting the reachable route in the above-described reachable route calculation unit 13 can be used.

In step S123, it is determined that movement is possible by providing the following two conditions.
(1) When the host vehicle V is moved along an S-shaped route, the host vehicle V does not contact the

obstacles

23 and 24. (2) The radius R of the pair of common circles is the minimum rotation of the host vehicle V. Be greater than radius

If either of the above two conditions is not satisfied, the host vehicle V cannot move, and the second repositioning path cannot be set, and this routine is terminated.

In step S124, the separation distance between the intermediate target position P2 and the target parking position P1 is calculated as the reverse amount. In step S125, a route for causing the host vehicle V to recede straightly by the receding amount is calculated. The own vehicle V can be placed in the parking position with high accuracy by suppressing the occurrence of displacement when the vehicle V recedes straight rather than receding.

The second repositioning path proceeds by S-shaped steering from the parking position of the host vehicle V to the intermediate target position P2 (FIG. 19 (3)), and proceeds straight from the intermediate target position P2 to the target parking position P1 (FIG. 19). 19 (4)). Therefore, by guiding the host vehicle V along the second repositioning route, the host vehicle V can be arranged in the parking space 20 without any position shift.

FIG. 21 is a flowchart for explaining a method for selecting a deviation correction path.
First, the realignment path calculation unit 16 calculates the first realignment path by the first realignment path calculation unit (S201). Then, it is determined whether or not the position shift can be corrected by the calculated first position shift path (S202). If none of the above-mentioned three parking NG conditions is satisfied, it is determined that the position can be corrected again by the first position correcting path (YES in S203). Then, a process of selecting the first repositioning path as the repositioning path is performed.

On the other hand, when it corresponds to at least one of the above-mentioned three parking NG conditions and it is determined that the repositioning by the first repositioning route is impossible (NO in S203), the second position displacement The second correction route calculation is performed by the correction route calculation unit (S203). If neither of the above two conditions is satisfied, it is determined that the position can be repositioned by the second position realignment path. Then, a process of selecting the second position shift path as the position shift path is performed.

According to the selection method described above, when both the first repositioning path and the second repositioning path can be repositioned, the first repositioning path is selected. Since the first repositioning path is one-side turning, the amount of operation of the host vehicle V is small and the movement error is small compared to S-shaped turning. Therefore, the time required for the repositioning operation can be shortened, the repositioning can be performed in a short time, and the parking accuracy can be increased.

The parking assist device 1 described above determines whether or not there is a displacement of the parking position as a result of guiding the host vehicle V along the parking route and parking the vehicle, and if it is determined that there is a displacement, Correcting the positional shift The position correcting path is calculated. The host vehicle V can correct the position shift by moving along the position shift correction path, and the separation distance δ between the position Vo of the host vehicle V and the target parking position P1 of the parking space 20 is less than a predetermined value. In addition, the angle θ between the vehicle orientation Vf of the host vehicle V and the parking orientation 26 of the parking space 20 can be made less than a predetermined value. The parking assist device 1 can perform support for re-parking the own vehicle V parked in the parking space 20 or in the vicinity of the parking space 20 with the position and orientation of the own vehicle V being shifted in the correct position and orientation. it can.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design changes can be made without departing from the spirit of the present invention described in the claims. Is something that can be done. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Furthermore, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

DESCRIPTION OF SYMBOLS 1 Parking assistance apparatus 11 Exit route calculating part 12 Connection candidate position setting part 13 Reachable route calculating part 14 Parking route setting part 15 Position shift | offset | difference determination part 16 Position shift corrective path | route calculating part 17 24 Obstacle 25 Passage direction 26 Parking direction V Own vehicle Vo Reference point (position of own vehicle)
P0 Initial position P1 Target parking position P2 Intermediate target position D Connection candidate position E Park-out position

Claims

A parking assistance device for assisting parking of the vehicle in a parking space provided on the side of a passage,
A parking route setting unit for setting a parking route from an initial position of the host vehicle on the passage to a target parking position of the parking space;
A misalignment determination unit that determines whether there is a misalignment between the host vehicle and the parking space when parking is performed based on the parking route;
When it is determined that there is a displacement, the vehicle is moved from the parking space to the passage, and moved from the passage toward the target parking position of the parking space to correct the displacement. A repositioning path calculating unit for calculating a path;
A parking assistance device comprising:
The positional deviation determination unit is configured to determine whether the distance between the parking position of the host vehicle and the target parking position of the parking space is a predetermined value or more, and the vehicle direction of the host vehicle and the parking direction of the parking space. The parking assistance device according to claim 1, wherein when there is at least one of the cases where the angle between the two is greater than or equal to a predetermined value, it is determined that the positional deviation is present.
The repositioning path calculating unit is
Calculating an exit route that moves straight from the parking position of the host vehicle to a position on the passage, and an entry route that moves while turning to one side from the position on the passage toward the parking space, and the exit route; A first repositioning path calculating unit that connects the warehousing path and calculates a first repositioning path;
An exit route that moves while turning left and right from the parking position of the host vehicle to a position on the passage, and an entry route that moves straight from the position on the passage moved by the exit route toward the parking space. The parking according to claim 2, further comprising at least one of a second repositioning path calculation unit that calculates and calculates a second repositioning path by connecting the delivery route and the warehousing route. Support device.
The first misalignment path calculation unit includes:
Calculate a shared circle that has both the vehicle direction of the host vehicle and the parking direction of the parking space as tangents,
A route connecting a straight line from the parking position of the host vehicle to the first contact point where the vehicle direction of the host vehicle and the shared circle contact along the vehicle direction of the host vehicle is calculated as the delivery route,
A path connecting with a circular arc from the first contact point along the shared circle to a second contact point where the parking direction of the parking space and the shared circle contact each other, and the target from the second contact point along the parking direction of the parking space The parking support apparatus according to claim 3, wherein a route connected in a straight line to a parking position is calculated as the warehousing route.
The first misalignment path calculation unit includes:
The second contact point is located on the exit side with respect to the target parking position, and the own vehicle does not contact an obstacle when the own vehicle is moved along the shared circle, and the sharing The parking assistance according to claim 4, wherein the first repositioning path is calculated when all three calculation conditions that a circle has a radius equal to or greater than a minimum turning radius of the host vehicle are satisfied. apparatus.
The second misalignment path calculation unit includes:
An intermediate target position is set at a position on the passage away from the target parking position along the parking direction of the parking space based on the passage width of the passage,
A pair of common circles having a single contact with the same radius and one passing through the parking position of the host vehicle and the other passing through the intermediate target position are calculated, and along the one common circle A route connecting the target parking position to the single contact point with an arc and a route connecting the single contact point to the intermediate target position with an arc along the other common circle are calculated as the delivery route. ,
The parking assist device according to claim 3, wherein a route connecting the intermediate target position and the target parking position along the parking direction with a straight line is calculated as the warehousing route.
The second misalignment path calculation unit includes:
A condition that when the host vehicle is moved along the pair of shared circles, the host vehicle does not contact an obstacle, and the pair of common circles have a radius equal to or greater than a minimum turning radius of the host vehicle. The parking assistance device according to claim 6, wherein when the condition is satisfied, the second repositioning route is calculated.
When the first position correction path calculation unit cannot calculate the first position correction path, the second position correction path calculation unit performs the second position correction by the second position correction path calculation unit. The parking assist device according to claim 3, wherein a re-shift route is calculated.